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<a href="sdo_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/******************************************************************************</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *  $Id: sdo.h,v 11c0b2caa253 2009/02/24 12:51:39 fp $</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  This file is part of the IgH EtherCAT Master.</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  The IgH EtherCAT Master is free software; you can redistribute it and/or</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modify it under the terms of the GNU General Public License version 2, as</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  published by the Free Software Foundation.</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *  The IgH EtherCAT Master is distributed in the hope that it will be useful,</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *  but WITHOUT ANY WARRANTY; without even the implied warranty of</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *  Public License for more details.</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *  You should have received a copy of the GNU General Public License along</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *  with the IgH EtherCAT Master; if not, write to the Free Software</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *  ---</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  The license mentioned above concerns the source code only. Using the</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  EtherCAT technology and brand is only permitted in compliance with the</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  industrial property and similar rights of Beckhoff Automation GmbH.</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *****************************************************************************/</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#ifndef __EC_SDO_H__</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#define __EC_SDO_H__</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#include &lt;linux/list.h&gt;</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="globals_8h.html">globals.h</a>&quot;</span></div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="sdo__entry_8h.html">sdo_entry.h</a>&quot;</span></div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;</div><div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="structec__sdo.html">   49</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structec__sdo.html">ec_sdo</a> {</div><div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="structec__sdo.html#a19e6bd6217318c1a84191ce3bc28ebca">   50</a></span>&#160;    <span class="keyword">struct </span>list_head <a class="code" href="structec__sdo.html#a19e6bd6217318c1a84191ce3bc28ebca">list</a>; </div><div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="structec__sdo.html#abaa23035a820b5eaae49b95b98ef3985">   51</a></span>&#160;    <a class="code" href="structec__slave.html">ec_slave_t</a> *<a class="code" href="structec__sdo.html#abaa23035a820b5eaae49b95b98ef3985">slave</a>; </div><div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="structec__sdo.html#a1764ade2d1d34c8e0c8951ff4a809663">   52</a></span>&#160;    uint16_t <a class="code" href="structec__sdo.html#a1764ade2d1d34c8e0c8951ff4a809663">index</a>; </div><div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="structec__sdo.html#ad1e3b4f7b9d26d163289b7ab6b36b011">   53</a></span>&#160;    uint8_t <a class="code" href="structec__sdo.html#ad1e3b4f7b9d26d163289b7ab6b36b011">object_code</a>; </div><div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="structec__sdo.html#a4dae1d2cd41ce8ab4407097ed7844472">   54</a></span>&#160;    <span class="keywordtype">char</span> *<a class="code" href="structec__sdo.html#a4dae1d2cd41ce8ab4407097ed7844472">name</a>; </div><div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="structec__sdo.html#ad493bab8f7ef1179d41172bbc445c77e">   55</a></span>&#160;    uint8_t <a class="code" href="structec__sdo.html#ad493bab8f7ef1179d41172bbc445c77e">max_subindex</a>; </div><div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="structec__sdo.html#a9f7c6b8967a84ba8686f1eb851019b4f">   56</a></span>&#160;    <span class="keyword">struct </span>list_head <a class="code" href="structec__sdo.html#a9f7c6b8967a84ba8686f1eb851019b4f">entries</a>; </div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;};</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="keywordtype">void</span> <a class="code" href="sdo_8h.html#ac99e87366c0031106442aa389ce7f228">ec_sdo_init</a>(<a class="code" href="structec__sdo.html">ec_sdo_t</a> *, <a class="code" href="structec__slave.html">ec_slave_t</a> *, uint16_t);</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;<span class="keywordtype">void</span> <a class="code" href="sdo_8h.html#a2f3bd87a0df2cff2b6201d26052dc14b">ec_sdo_clear</a>(<a class="code" href="structec__sdo.html">ec_sdo_t</a> *);</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<a class="code" href="structec__sdo__entry__t.html">ec_sdo_entry_t</a> *<a class="code" href="sdo_8h.html#a584a2dd3378e767d92f0485e1d89679a">ec_sdo_get_entry</a>(<a class="code" href="structec__sdo.html">ec_sdo_t</a> *, uint8_t);</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<span class="keyword">const</span> <a class="code" href="structec__sdo__entry__t.html">ec_sdo_entry_t</a> *<a class="code" href="sdo_8h.html#a2a3fa7a030cf23306c37e5628d11838b">ec_sdo_get_entry_const</a>(<span class="keyword">const</span> <a class="code" href="structec__sdo.html">ec_sdo_t</a> *, uint8_t);</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="sdo_8h_html_a2f3bd87a0df2cff2b6201d26052dc14b"><div class="ttname"><a href="sdo_8h.html#a2f3bd87a0df2cff2b6201d26052dc14b">ec_sdo_clear</a></div><div class="ttdeci">void ec_sdo_clear(ec_sdo_t *)</div><div class="ttdoc">SDO destructor. </div><div class="ttdef"><b>Definition:</b> <a href="sdo_8c_source.html#l00067">sdo.c:67</a></div></div>
<div class="ttc" id="sdo_8h_html_a2a3fa7a030cf23306c37e5628d11838b"><div class="ttname"><a href="sdo_8h.html#a2a3fa7a030cf23306c37e5628d11838b">ec_sdo_get_entry_const</a></div><div class="ttdeci">const ec_sdo_entry_t * ec_sdo_get_entry_const(const ec_sdo_t *, uint8_t)</div><div class="ttdoc">Get an SDO entry from an SDO via its subindex. </div><div class="ttdef"><b>Definition:</b> <a href="sdo_8c_source.html#l00116">sdo.c:116</a></div></div>
<div class="ttc" id="structec__sdo__entry__t_html"><div class="ttname"><a href="structec__sdo__entry__t.html">ec_sdo_entry_t</a></div><div class="ttdoc">CANopen SDO entry. </div><div class="ttdef"><b>Definition:</b> <a href="sdo__entry_8h_source.html#l00054">sdo_entry.h:54</a></div></div>
<div class="ttc" id="sdo_8h_html_a584a2dd3378e767d92f0485e1d89679a"><div class="ttname"><a href="sdo_8h.html#a584a2dd3378e767d92f0485e1d89679a">ec_sdo_get_entry</a></div><div class="ttdeci">ec_sdo_entry_t * ec_sdo_get_entry(ec_sdo_t *, uint8_t)</div><div class="ttdoc">Get an SDO entry from an SDO via its subindex. </div><div class="ttdef"><b>Definition:</b> <a href="sdo_8c_source.html#l00091">sdo.c:91</a></div></div>
<div class="ttc" id="sdo_8h_html_ac99e87366c0031106442aa389ce7f228"><div class="ttname"><a href="sdo_8h.html#ac99e87366c0031106442aa389ce7f228">ec_sdo_init</a></div><div class="ttdeci">void ec_sdo_init(ec_sdo_t *, ec_slave_t *, uint16_t)</div><div class="ttdoc">Constructor. </div><div class="ttdef"><b>Definition:</b> <a href="sdo_8c_source.html#l00047">sdo.c:47</a></div></div>
<div class="ttc" id="structec__sdo_html_a19e6bd6217318c1a84191ce3bc28ebca"><div class="ttname"><a href="structec__sdo.html#a19e6bd6217318c1a84191ce3bc28ebca">ec_sdo::list</a></div><div class="ttdeci">struct list_head list</div><div class="ttdoc">List item. </div><div class="ttdef"><b>Definition:</b> <a href="sdo_8h_source.html#l00050">sdo.h:50</a></div></div>
<div class="ttc" id="structec__sdo_html"><div class="ttname"><a href="structec__sdo.html">ec_sdo</a></div><div class="ttdoc">CANopen SDO. </div><div class="ttdef"><b>Definition:</b> <a href="sdo_8h_source.html#l00049">sdo.h:49</a></div></div>
<div class="ttc" id="structec__sdo_html_a1764ade2d1d34c8e0c8951ff4a809663"><div class="ttname"><a href="structec__sdo.html#a1764ade2d1d34c8e0c8951ff4a809663">ec_sdo::index</a></div><div class="ttdeci">uint16_t index</div><div class="ttdoc">SDO index. </div><div class="ttdef"><b>Definition:</b> <a href="sdo_8h_source.html#l00052">sdo.h:52</a></div></div>
<div class="ttc" id="structec__sdo_html_abaa23035a820b5eaae49b95b98ef3985"><div class="ttname"><a href="structec__sdo.html#abaa23035a820b5eaae49b95b98ef3985">ec_sdo::slave</a></div><div class="ttdeci">ec_slave_t * slave</div><div class="ttdoc">Parent slave. </div><div class="ttdef"><b>Definition:</b> <a href="sdo_8h_source.html#l00051">sdo.h:51</a></div></div>
<div class="ttc" id="globals_8h_html"><div class="ttname"><a href="globals_8h.html">globals.h</a></div><div class="ttdoc">Global definitions and macros. </div></div>
<div class="ttc" id="structec__sdo_html_ad1e3b4f7b9d26d163289b7ab6b36b011"><div class="ttname"><a href="structec__sdo.html#ad1e3b4f7b9d26d163289b7ab6b36b011">ec_sdo::object_code</a></div><div class="ttdeci">uint8_t object_code</div><div class="ttdoc">Object code. </div><div class="ttdef"><b>Definition:</b> <a href="sdo_8h_source.html#l00053">sdo.h:53</a></div></div>
<div class="ttc" id="structec__slave_html"><div class="ttname"><a href="structec__slave.html">ec_slave</a></div><div class="ttdoc">EtherCAT slave. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00176">slave.h:176</a></div></div>
<div class="ttc" id="sdo__entry_8h_html"><div class="ttname"><a href="sdo__entry_8h.html">sdo_entry.h</a></div><div class="ttdoc">EtherCAT CANopen SDO entry structure. </div></div>
<div class="ttc" id="structec__sdo_html_a4dae1d2cd41ce8ab4407097ed7844472"><div class="ttname"><a href="structec__sdo.html#a4dae1d2cd41ce8ab4407097ed7844472">ec_sdo::name</a></div><div class="ttdeci">char * name</div><div class="ttdoc">SDO name. </div><div class="ttdef"><b>Definition:</b> <a href="sdo_8h_source.html#l00054">sdo.h:54</a></div></div>
<div class="ttc" id="structec__sdo_html_a9f7c6b8967a84ba8686f1eb851019b4f"><div class="ttname"><a href="structec__sdo.html#a9f7c6b8967a84ba8686f1eb851019b4f">ec_sdo::entries</a></div><div class="ttdeci">struct list_head entries</div><div class="ttdoc">List of entries. </div><div class="ttdef"><b>Definition:</b> <a href="sdo_8h_source.html#l00056">sdo.h:56</a></div></div>
<div class="ttc" id="structec__sdo_html_ad493bab8f7ef1179d41172bbc445c77e"><div class="ttname"><a href="structec__sdo.html#ad493bab8f7ef1179d41172bbc445c77e">ec_sdo::max_subindex</a></div><div class="ttdeci">uint8_t max_subindex</div><div class="ttdoc">Maximum subindex. </div><div class="ttdef"><b>Definition:</b> <a href="sdo_8h_source.html#l00055">sdo.h:55</a></div></div>
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